This paper presents the first haptically guided cooperative small unmanned aircraft system payload transport system with experimental validation. A team of five quadrotors is connected with individual tethers to an instrumented payload. A user issues haptic guidance commands by applying force on the slung payload. The system estimates user-applied force and direction from inline tension sensors in real time. This force updates the virtual dynamics of an admittance controller to execute the desired trajectory of the payload in the direction of the applied force. A centralized payload controller commands quadrotor trajectories to track the admittance controller trajectory. Custom open-source autopilot software tracks user commands by translating each quadrotor to pull on the tethers in a manner that collectively moves the payload according to user input force. Simulation and experimental flight-test results in a netted facility validate the system with a user applying force directly on the slung payload to guide it.

本文介绍了第一个具有实验验证的触觉引导协作小型无人机系统有效载荷运输系统。一个由五个四旋翼飞行器组成的团队通过单独的系绳连接到一个仪表化的有效载荷。用户通过对悬挂的有效载荷施加力来发出触觉引导命令。该系统通过在线张力传感器实时估计用户施加的力和方向。该力更新导纳控制器的虚拟动力学，以在施加力的方向上执行有效载荷的所需轨迹。集中式有效载荷控制器命令四旋翼轨迹来跟踪导纳控制器轨迹。定制的开源自动驾驶软件通过翻译每个四旋翼以根据用户输入力共同移动有效载荷的方式拉动系绳来跟踪用户命令。网状设施中的模拟和实验飞行测试结果验证了系统，用户直接在悬挂的有效载荷上施加力以引导它。